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Fix deprecation warnings for upcoming ROS Galactic release #631

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Merged
merged 6 commits into from
Mar 22, 2021
Merged

Fix deprecation warnings for upcoming ROS Galactic release #631

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6b36efd
Fix deprecation warnings when constructing rclcpp::Duration objects
jacobperron Mar 17, 2021
7055b82
Fix deprecated calls to declare_parameter
jacobperron Mar 17, 2021
ca9e807
Refactor
jacobperron Mar 17, 2021
afa37fa
Fix other deprecated uses of rclcpp::Duration
jacobperron Mar 17, 2021
774841b
Minor refactor
jacobperron Mar 18, 2021
3326e80
Catch exceptions when no parameter override is provided
jacobperron Mar 19, 2021
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2 changes: 1 addition & 1 deletion src/robot_localization_estimator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -182,7 +182,7 @@ void RobotLocalizationEstimator::extrapolate(
rclcpp::Time time_stamp = rclcpp::Time(
boundary_state.time_stamp *
1000000000);
rclcpp::Duration delta_duration = rclcpp::Duration(delta * 1000000000);
rclcpp::Duration delta_duration = rclcpp::Duration::from_nanoseconds(delta * 1000000000);
filter_->predict(time_stamp, delta_duration);

state_at_req_time.time_stamp = requested_time;
Expand Down
44 changes: 22 additions & 22 deletions src/ros_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,12 +72,12 @@ RosFilter<T>::RosFilter(const rclcpp::NodeOptions & options)
static_diag_error_level_(diagnostic_msgs::msg::DiagnosticStatus::OK),
frequency_(30.0),
gravitational_acceleration_(9.80665),
history_length_(0),
history_length_(0ns),
latest_control_(),
last_set_pose_time_(0, 0, RCL_ROS_TIME),
latest_control_time_(0, 0, RCL_ROS_TIME),
tf_timeout_(0),
tf_time_offset_(0)
tf_timeout_(0ns),
tf_time_offset_(0ns)
{
tf_buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock());
tf_listener_ = std::make_unique<tf2_ros::TransformListener>(*tf_buffer_);
Expand Down Expand Up @@ -604,7 +604,7 @@ void RosFilter<T>::integrateMeasurements(const rclcpp::Time & current_time)
const std::string first_measurement_topic =
first_measurement->topic_name_;
// revertTo may invalidate first_measurement
if (!revertTo(first_measurement_time - rclcpp::Duration(1))) {
if (!revertTo(first_measurement_time - rclcpp::Duration(1ns))) {
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@SteveMacenski SteveMacenski Mar 17, 2021

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@ayrton04 should this be 1ns, 1s, ...?

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@jacobperron jacobperron Mar 17, 2021

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Thanks, I meant to ask the same question.

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@jacobperron jacobperron Mar 18, 2021

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If I understand the equivalent ROS 1 code, it is also subtracting 1 nanosecond:

robot_localization/src/ros_filter.cpp

Line 611 in a2da33b

if (!revertTo(firstMeasurementTime - 1e-9)) // revertTo may invalidate firstMeasurement

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@ayrton04 ayrton04 Mar 22, 2021

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So the PRs involved here are

https://github.com/cra-ros-pkg/robot_localization/pull/266/files

and

https://github.com/cra-ros-pkg/robot_localization/pull/279/files

The only reason we subtract any time at all is to ensure that we go to a measurement (presumably the first) that is before first_measurement_time. But we could also just change this to use >=:

robot_localization/src/ros_filter.cpp

Lines 3322 to 3323 in 3326e80

while (!filter_state_history_.empty() &&
filter_state_history_.back()->last_measurement_time_ > time)

If I had to guess (I didn't dig too far), the measurement times were likely stored as doubles originally, and the 1e-9 thing was just me being careful with floating point numbers. But ROS times have exact representations, so I think the 1e-9 could go, and we can change the revertTo reverse iteration to check for >= instead of just >.

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@ayrton04 ayrton04 Mar 22, 2021

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However, that change could be outside of scope for this. It was meant to be 1 nanosecond, yes.

RF_DEBUG(
"ERROR: history interval is too small to revert to time " <<
filter_utilities::toSec(first_measurement_time) << "\n");
Expand Down Expand Up @@ -815,7 +815,7 @@ void RosFilter<T>::loadParams()
// Try to resolve tf_prefix
std::string tf_prefix = "";
std::string tf_prefix_path = "";
this->declare_parameter("tf_prefix");
this->declare_parameter<std::string>("tf_prefix");
if (this->get_parameter("tf_prefix", tf_prefix_path)) {
// Append the tf prefix in a tf2-friendly manner
filter_utilities::appendPrefix(tf_prefix, map_frame_id_);
Expand All @@ -834,18 +834,18 @@ void RosFilter<T>::loadParams()
// Transform future dating
double offset_tmp = this->declare_parameter("transform_time_offset", 0.0);
tf_time_offset_ =
rclcpp::Duration(filter_utilities::secToNanosec(offset_tmp));
rclcpp::Duration::from_nanoseconds(filter_utilities::secToNanosec(offset_tmp));

// Transform timeout
double timeout_tmp = this->declare_parameter("transform_timeout", 0.0);
tf_timeout_ = rclcpp::Duration(filter_utilities::secToNanosec(timeout_tmp));
tf_timeout_ = rclcpp::Duration::from_nanoseconds(filter_utilities::secToNanosec(timeout_tmp));

// Update frequency and sensor timeout
frequency_ = this->declare_parameter("frequency", 30.0);

double sensor_timeout = this->declare_parameter("sensor_timeout", 1.0 / frequency_);
filter_.setSensorTimeout(
rclcpp::Duration(filter_utilities::secToNanosec(sensor_timeout)));
rclcpp::Duration::from_nanoseconds(filter_utilities::secToNanosec(sensor_timeout)));

// Determine if we're in 2D mode
two_d_mode_ = this->declare_parameter("two_d_mode", false);
Expand All @@ -865,7 +865,7 @@ void RosFilter<T>::loadParams()
" specified. Absolute value will be assumed.";
}

history_length_ = rclcpp::Duration(
history_length_ = rclcpp::Duration::from_nanoseconds(
filter_utilities::secToNanosec(std::abs(history_length_double)));

// Whether we reset filter on jump back in time
Expand All @@ -883,7 +883,7 @@ void RosFilter<T>::loadParams()
control_timeout = this->declare_parameter("control_timeout", 0.0);

if (use_control_) {
this->declare_parameter("control_config");
this->declare_parameter<std::vector<bool>>("control_config");
if (this->get_parameter("control_config", control_update_vector)) {
if (control_update_vector.size() != TWIST_SIZE) {
std::cerr << "Control configuration must be of size " << TWIST_SIZE <<
Expand All @@ -899,7 +899,7 @@ void RosFilter<T>::loadParams()
use_control_ = false;
}

this->declare_parameter("acceleration_limits");
this->declare_parameter<std::vector<double>>("acceleration_limits");
if (this->get_parameter("acceleration_limits", acceleration_limits)) {
if (acceleration_limits.size() != TWIST_SIZE) {
std::cerr << "Acceleration configuration must be of size " << TWIST_SIZE <<
Expand All @@ -915,7 +915,7 @@ void RosFilter<T>::loadParams()
acceleration_limits.resize(TWIST_SIZE, 1.0);
}

this->declare_parameter("acceleration_gains");
this->declare_parameter<std::vector<double>>("acceleration_gains");
if (this->get_parameter("acceleration_gains", acceleration_gains)) {
const int size = acceleration_gains.size();
if (size != TWIST_SIZE) {
Expand All @@ -929,7 +929,7 @@ void RosFilter<T>::loadParams()
}
}

this->declare_parameter("deceleration_limits");
this->declare_parameter<std::vector<double>>("deceleration_limits");
if (this->get_parameter("deceleration_limits", deceleration_limits)) {
if (deceleration_limits.size() != TWIST_SIZE) {
std::cerr << "Deceleration configuration must be of size " << TWIST_SIZE <<
Expand All @@ -945,7 +945,7 @@ void RosFilter<T>::loadParams()
deceleration_limits = acceleration_limits;
}

this->declare_parameter("deceleration_gains");
this->declare_parameter<std::vector<double>>("deceleration_gains");
if (this->get_parameter("deceleration_gains", deceleration_gains)) {
const int size = deceleration_gains.size();
if (size != TWIST_SIZE) {
Expand Down Expand Up @@ -977,7 +977,7 @@ void RosFilter<T>::loadParams()
dynamic_process_noise_covariance);

std::vector<double> initial_state;
this->declare_parameter("initial_state");
this->declare_parameter<std::vector<double>>("initial_state");
if (this->get_parameter("initial_state", initial_state)) {
if (initial_state.size() != STATE_SIZE) {
std::cerr << "Initial state must be of size " << STATE_SIZE <<
Expand Down Expand Up @@ -1066,7 +1066,7 @@ void RosFilter<T>::loadParams()
ss << "odom" << topic_ind++;
std::string odom_topic_name = ss.str();
std::string odom_topic;
this->declare_parameter(odom_topic_name);
this->declare_parameter<std::string>(odom_topic_name);

rclcpp::Parameter parameter;
if (rclcpp::PARAMETER_NOT_SET != this->get_parameter(odom_topic_name, parameter)) {
Expand Down Expand Up @@ -1217,7 +1217,7 @@ void RosFilter<T>::loadParams()
ss << "pose" << topic_ind++;
std::string pose_topic_name = ss.str();
std::string pose_topic;
this->declare_parameter(pose_topic_name);
this->declare_parameter<std::string>(pose_topic_name);

rclcpp::Parameter parameter;
if (rclcpp::PARAMETER_NOT_SET != this->get_parameter(pose_topic_name, parameter)) {
Expand Down Expand Up @@ -1335,7 +1335,7 @@ void RosFilter<T>::loadParams()
ss << "twist" << topic_ind++;
std::string twist_topic_name = ss.str();
std::string twist_topic;
this->declare_parameter(twist_topic_name);
this->declare_parameter<std::string>(twist_topic_name);

rclcpp::Parameter parameter;
if (rclcpp::PARAMETER_NOT_SET != this->get_parameter(twist_topic_name, parameter)) {
Expand Down Expand Up @@ -1417,7 +1417,7 @@ void RosFilter<T>::loadParams()
ss << "imu" << topic_ind++;
std::string imu_topic_name = ss.str();
std::string imu_topic;
this->declare_parameter(imu_topic_name);
this->declare_parameter<std::string>(imu_topic_name);

rclcpp::Parameter parameter;
if (rclcpp::PARAMETER_NOT_SET != this->get_parameter(imu_topic_name, parameter)) {
Expand Down Expand Up @@ -1663,7 +1663,7 @@ void RosFilter<T>::loadParams()

filter_.setControlParams(
control_update_vector,
rclcpp::Duration(filter_utilities::secToNanosec(control_timeout)),
rclcpp::Duration::from_nanoseconds(filter_utilities::secToNanosec(control_timeout)),
acceleration_limits, acceleration_gains, deceleration_limits,
deceleration_gains);

Expand Down Expand Up @@ -1727,7 +1727,7 @@ void RosFilter<T>::loadParams()
process_noise_covariance.setZero();
std::vector<double> process_noise_covar_flat;

this->declare_parameter("process_noise_covariance");
this->declare_parameter<std::vector<double>>("process_noise_covariance");
if (this->get_parameter(
"process_noise_covariance",
process_noise_covar_flat))
Expand All @@ -1754,7 +1754,7 @@ void RosFilter<T>::loadParams()
initial_estimate_error_covariance.setZero();
std::vector<double> estimate_error_covar_flat;

this->declare_parameter("initial_estimate_covariance");
this->declare_parameter<std::vector<double>>("initial_estimate_covariance");
if (this->get_parameter(
"initial_estimate_covariance",
estimate_error_covar_flat))
Expand Down